Robot Dynamics and Control
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This chapter presents an introduction to the dynamics and control of robot manipulators. We derive the equations of motion for a general open-chain manipulator and, using the structure present in the dynamics, construct control laws for asymptotic tracking of a desired trajectory. In deriving the dynamics, we will make explicit use of twists for representing the kinematics of the manipulator and explore the role that the kinematics play in the equations of motion. We assume some familiarity with dynamics and control of physical systems.